Methods and Systems for Vehicle Radar Coordination and Interference Reduction

ABSTRACT

A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/912,271, filed on Jun. 25, 2020, which is a continuation of U.S.patent application Ser. No. 15/633,592 (now U.S. Pat. No. 10,698,082),filed on Jun. 26, 2017, which is a continuation of U.S. patentapplication Ser. No. 14/494,173 (now U.S. Pat. No. 9,720,072), filed onSep. 23, 2014, which claims priority to U.S. Provisional PatentApplication No. 62/043,301, filed on Aug. 28, 2014, the entirety of eachare all incorporated herein by reference.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Radio detection and ranging (RADAR) systems can be used to activelyestimate range, angle, and/or Doppler frequency shift to environmentalfeatures by emitting radio signals and detecting returning reflectedsignals. Distances to radio-reflective features can be determinedaccording to the time delay between transmission and reception. Theradar system can emit a signal that varies in frequency over time, suchas a signal with a time-varying frequency ramp, and then relate thedifference in frequency between the emitted signal and the reflectedsignal to a range estimate. Some systems may also estimate relativemotion of reflective objects based on Doppler frequency shifts in thereceived reflected signals.

In some examples, directional antennas can be used for the transmissionand/or reception of signals to associate each range estimate with abearing. More generally, directional antennas can also be used to focusradiated energy on a given field of view of interest. Combining themeasured distances and the directional information allows for thesurrounding environment features to be mapped. In other examples,non-directional antennas can be alternatively used. In these examples, areceiving antenna may have a 90 degree field of view, and may beconfigured to utilize multiple channels with a phase offset to determineangle of arrival of the received signal. The radar sensor can thus beused, for instance, by an autonomous vehicle control system to avoidobstacles indicated by the sensor information.

Some example automotive radar systems may be configured to operate at anelectromagnetic wave frequency range of 76-77 Giga-Hertz (GHz). Theseradar systems may use transmission antennas that can to focus theradiated energy into tight beams in order to enable receiving antennas(e.g., having wide angle beams) in the radar system to measure anenvironment of the vehicle with high accuracy.

SUMMARY

In one example, a vehicle is provided that includes a sensor configuredto detect an environment of the vehicle based on a comparison betweenelectromagnetic (EM) radiation transmitted by the sensor and areflection of the EM radiation from one or more objects in theenvironment of the vehicle. The vehicle may also include a controllerconfigured to receive data from an external computing device indicativeof at least one other vehicle in the environment of the vehicle. The atleast one other vehicle may include at least one sensor. The controllermay also be configured to determine a likelihood of interference betweenthe at least one sensor of the at least one other vehicle and the sensorof the vehicle based on the data. The controller may also be configuredto responsively initiate an adjustment of the sensor to reduce thelikelihood of interference between the sensor of the vehicle and the atleast one sensor of the at least one other vehicle.

In another example, a method is provided that comprises a vehiclereceiving data from an external computing device indicative of at leastone other vehicle in an environment of the vehicle. The at least oneother vehicle may include at least one sensor. The vehicle may include asensor configured to detect the environment of the vehicle based on acomparison between electromagnetic (EM) radiation transmitted by thesensor and a reflection of the EM radiation from one or more objects inthe environment of the vehicle. The method further comprises determininga likelihood of interference between the at least one sensor of the atleast one other vehicle and the sensor of the vehicle based on the data.The method further comprises initiating an adjustment of the sensorbased on the likelihood being greater than a threshold likelihood. Theadjustment may reduce the likelihood of interference between the sensorof the vehicle and the at least one sensor of the at least one othervehicle.

In yet another example, a method is provided that comprises receivingdata from a plurality of vehicles by a computing device that includesone or more processors. The data may be indicative of configurationparameters of sensors in the plurality of vehicles. The data may also beindicative of locations of the plurality of vehicles. A given sensor ofa given vehicle may be configured to detect an environment of the givenvehicle based on a comparison between electromagnetic (EM) radiationtransmitted by the given sensor and a reflection of the EM radiationfrom one or more objects in the environment of the given vehicle. Themethod further comprises determining that the given vehicle is within athreshold distance to at least one other vehicle based on the data. Themethod further comprises responsively determining a likelihood ofinterference between at least one sensor of the at least one othervehicle and the given sensor of the given vehicle based on theconfiguration parameters. The method further comprises the computingdevice providing a request to the given vehicle to adjust givenconfiguration parameters of the given sensor to reduce the likelihood ofinterference between the given sensor of the given vehicle and the atleast one sensor of the at least one other vehicle. The provision of therequest may be based on the likelihood being greater than a thresholdlikelihood.

In still another example, a system is provided that comprises a meansfor a vehicle receiving data from an external computing deviceindicative of at least one other vehicle in an environment of thevehicle. The at least one other vehicle may include at least one sensor.The vehicle may include a sensor configured to detect the environment ofthe vehicle based on a comparison between electromagnetic (EM) radiationtransmitted by the sensor and a reflection of the EM radiation from oneor more objects in the environment of the vehicle. The system furthercomprises a means for determining that a likelihood of interferencebetween the at least one sensor of the at least one other vehicle andthe sensor of the vehicle based on the data. The system furthercomprises a means for initiating an adjustment of the sensor based onthe likelihood being greater than a threshold likelihood. The adjustmentmay reduce the likelihood of interference between the sensor of thevehicle and the at least one sensor of the at least one other vehicle.

In still another example, a system is provided that comprises a meansfor receiving data from a plurality of vehicles by a computing devicethat includes one or more processors. The data may be indicative ofconfiguration parameters of sensors in the plurality of vehicles. Thedata may also be indicative of locations of the plurality of vehicles. Agiven sensor of a given vehicle may be configured to detect anenvironment of the given vehicle based on a comparison betweenelectromagnetic (EM) radiation transmitted by the given sensor and areflection of the EM radiation from one or more objects in theenvironment of the given vehicle. The system further comprises a meansfor determining that the given vehicle is within a threshold distance toat least one other vehicle based on the data. The system furthercomprises a means for responsively determining a likelihood ofinterference between at least one sensor of the at least one othervehicle and the given sensor of the given vehicle based on theconfiguration parameters. The system further comprises a means for thecomputing device providing a request to the given vehicle to adjustgiven configuration parameters of the given sensor to reduce thelikelihood of interference between the given sensor of the given vehicleand the at least one sensor of the at least one other vehicle. Theprovision of the request may be based on the likelihood being greaterthan a threshold likelihood.

These as well as other aspects, advantages, and alternatives, willbecome apparent to those of ordinary skill in the art by reading thefollowing detailed description, with reference where appropriate to theaccompanying figures.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 illustrates a vehicle, according to an example embodiment.

FIG. 2 is a simplified block diagram of a vehicle, according to anexample embodiment.

FIG. 3 is a simplified block diagram of a system, according to anexample embodiment.

FIG. 4 is a block diagram of a method, according to an exampleembodiment.

FIG. 5 is a block diagram of another method, according to an exampleembodiment.

FIG. 6 illustrates a plurality of vehicles within an environment of avehicle that includes a sensor, according to an example embodiment.

FIG. 7 is a simplified block diagram of a sensor, according to anexample embodiment.

FIG. 8 illustrates a modulation pattern of electromagnetic (EM)radiation from a sensor, according to an example embodiment.

FIGS. 9A-9E illustrate example scenarios for adjusting a modulationpattern of EM radiation from a sensor to reduce interference with othersensors, in accordance with at least some embodiments herein.

FIG. 10 depicts an example computer readable medium configured accordingto an example embodiment.

DETAILED DESCRIPTION

The following detailed description describes various features andfunctions of the disclosed systems and methods with reference to theaccompanying figures. In the figures, similar symbols identify similarcomponents, unless context dictates otherwise. The illustrative system,device and method embodiments described herein are not meant to belimiting. It may be readily understood by those skilled in the art thatcertain aspects of the disclosed systems, devices and methods can bearranged and combined in a wide variety of different configurations, allof which are contemplated herein.

There are continued efforts to improve vehicle safety, including thedevelopment of autonomous vehicles equipped with accident-avoidancesystems that may have the ability to avoid accidents. Various sensors,such as radio detection and ranging (RADAR) sensors and light detectionand ranging (LIDAR) sensors among other possibilities, may be includedin an autonomous vehicle to detect obstacles and/or other vehicles in anenvironment of the autonomous vehicle and thereby facilitate accidentavoidance. However, as more vehicles adopt such accident-avoidancesystems and the density of sensor equipped vehicles increases,interference between the sensors may reduce accuracy and effectivenessof the sensors for use in accident avoidance.

Within examples, systems and methods herein may be configured to adjusta sensor of a vehicle to reduce a likelihood of interference between thesensor and other sensors of other vehicles. By way of example, a vehicleherein may comprise a sensor configured to detect an environment of thevehicle. The vehicle may further comprise a controller configured toreceive data from an external computing device indicative of at leastone other vehicle in the environment of the vehicle. The externalcomputing device, for example, may be a server in wireless communicationwith the vehicle and other vehicles in the environment. In one instance,the controller may also be configured to determine that the at least onesensor of the at least one other vehicle is directed towards the sensorof the vehicle based on the data. In another instance, the controllermay be configured to determine that the vehicle and the at least oneother vehicle are within a threshold distance to each other, thusincreasing the likelihood of interference. Thus, for example, the datamay include locations of the at least one other vehicle and/ordirections of the at least one sensor. The controller may also beconfigured to responsively initiate an adjustment of the sensor toreduce the likelihood of interference between the sensor of the vehicleand the at least one sensor of the at least one other vehicle.

Various adjustments of the sensor are possible such as adjusting adirection, power, modulation pattern, or any other parameter of thesensor to reduce interference with the at least one sensor of the atleast one other vehicle.

Alternatively, in some examples, the external computing device mayreceive configuration parameters of the sensor of the vehicle and othersensors of other vehicles in the vicinity of the vehicle. In theseexamples, the external computing device may provide instructions to thevehicle and/or the other vehicles with suitable adjustments forcorresponding sensors to reduce the interference between the varioussensors. Therefore, in some embodiments, some of the functions describedabove for the vehicle may be alternatively performed by the externalcomputing device in accordance with various conditions such as networklatency between the external computing device and the vehicle or othersafety considerations.

The embodiments disclosed herein may be used on any type of vehicle,including conventional automobiles and automobiles having an autonomousmode of operation. However, the term “vehicle” is to be broadlyconstrued to cover any moving object, including, for instance, a truck,a van, a semi-trailer truck, a motorcycle, a golf cart, an off-roadvehicle, a warehouse transport vehicle, or a farm vehicle, as well as acarrier that rides on a track such as a rollercoaster, trolley, tram, ortrain car, among other examples.

Referring now to the Figures, FIG. 1 illustrates a vehicle 100,according to an example embodiment. In particular, FIG. 1 shows a RightSide View, Front View, Back View, and Top View of the vehicle 100.Although vehicle 100 is illustrated in FIG. 1 as a car, as discussedabove, other embodiments are possible. Furthermore, although the examplevehicle 100 is shown as a vehicle that may be configured to operate inautonomous mode, the embodiments described herein are also applicable tovehicles that are not configured to operate autonomously. Thus, theexample vehicle 100 is not meant to be limiting.

As shown, the vehicle 100 includes a first sensor unit 102, a secondsensor unit 104, a third sensor unit 106, a wireless communicationsystem 108, and a camera 110. Each of the first, second, and thirdsensor units 102-106 may include any combination of global positioningsystem sensors, inertial measurement units, radio detection and ranging(RADAR) units, laser rangefinders, light detection and ranging (LIDAR)units, cameras, and acoustic sensors. Other types of sensors arepossible as well.

While the first, second, and third sensor units 102-106 are shown to bemounted in particular locations on the vehicle 100, in some embodimentsthe sensor units 102-106 may be mounted elsewhere on the vehicle 100,either inside or outside the vehicle 100. For example, a sensor unit maybe mounted at the back of the vehicle (not shown in FIG. 1). Further,while only three sensor units are shown, in some embodiments more orfewer sensor units may be included in the vehicle 100.

In some embodiments, one or more of the first, second, and third sensorunits 102-106 may include one or more movable mounts (e.g., “steeringdevices”) on which the sensors may be movably mounted. The movable mountmay include, for example, a rotating platform. Sensors mounted on therotating platform could be rotated so that the sensors may obtaininformation from various direction around the vehicle 100. Alternativelyor additionally, the movable mount may include a tilting platform.Sensors mounted on the tilting platform could be tilted within aparticular range of angles and/or azimuths so that the sensors mayobtain information from a variety of angles. The movable mount may takeother forms as well.

Further, in some embodiments, one or more of the first, second, andthird sensor units 102-106 may include one or more actuators configuredto adjust the position and/or orientation of sensors in the sensor unitby moving the sensors and/or movable mounts. Example actuators includemotors, pneumatic actuators, hydraulic pistons, relays, solenoids, andpiezoelectric actuators. Other actuators are possible as well.

The wireless communication system 108 may be any system configured towirelessly couple to one or more other vehicles, sensors, or otherentities, either directly or via a communication network. To this end,the wireless communication system 108 may include an antenna and achipset for communicating with the other vehicles, sensors, servers, orother entities either directly or via a communication network. Thechipset or wireless communication system 108 in general may be arrangedto communicate according to one or more types of wireless communication(e.g., protocols) such as Bluetooth, communication protocols describedin IEEE 802.11 (including any IEEE 802.11 revisions), cellulartechnology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), Zigbee,dedicated short range communications (DSRC), and radio frequencyidentification (RFID) communications, among other possibilities. Thewireless communication system 108 may take other forms as well.

While the wireless communication system 108 is shown positioned on aroof of the vehicle 100, in other embodiments the wireless communicationsystem 108 could be located, fully or in part, elsewhere.

The camera 110 may be any camera (e.g., a still camera, a video camera,etc.) configured to capture images of the environment in which thevehicle 100 is located. To this end, the camera 110 may be configured todetect visible light, or may be configured to detect light from otherportions of the spectrum, such as infrared or ultraviolet light. Othertypes of cameras are possible as well. The camera 110 may be atwo-dimensional detector, or may have a three-dimensional spatial range.In some embodiments, the camera 110 may be, for example, a rangedetector configured to generate a two-dimensional image indicating adistance from the camera 110 to a number of points in the environment.To this end, the camera 110 may use one or more range detectingtechniques. For example, the camera 110 may use a structured lighttechnique in which the vehicle 100 illuminates an object in theenvironment with a predetermined light pattern, such as a grid orcheckerboard pattern and uses the camera 110 to detect a reflection ofthe predetermined light pattern off the object. Based on distortions inthe reflected light pattern, the vehicle 100 may determine the distanceto the points on the object. The predetermined light pattern maycomprise infrared light, or light of another wavelength. As anotherexample, the camera 110 may use a laser scanning technique in which thevehicle 100 emits a laser and scans across a number of points on anobject in the environment. While scanning the object, the vehicle 100uses the camera 110 to detect a reflection of the laser off the objectfor each point. Based on a length of time it takes the laser to reflectoff the object at each point, the vehicle 100 may determine the distanceto the points on the object. As yet another example, the camera 110 mayuse a time-of-flight technique in which the vehicle 100 emits a lightpulse and uses the camera 110 to detect a reflection of the light pulseoff an object at a number of points on the object. In particular, thecamera 110 may include a number of pixels, and each pixel may detect thereflection of the light pulse from a point on the object. Based on alength of time it takes the light pulse to reflect off the object ateach point, the vehicle 100 may determine the distance to the points onthe object. The light pulse may be a laser pulse. Other range detectingtechniques are possible as well, including stereo triangulation,sheet-of-light triangulation, interferometry, and coded aperturetechniques, among others. The camera 110 may take other forms as well.

In some embodiments, the camera 110 may include a movable mount and/oran actuator, as described above, that are configured to adjust theposition and/or orientation of the camera 110 by moving the camera 110and/or the movable mount.

While the camera 110 is shown to be mounted inside a front windshield ofthe vehicle 100, in other embodiments the camera 110 may be mountedelsewhere on the vehicle 100, either inside or outside the vehicle 100.

The vehicle 100 may include one or more other components in addition toor instead of those shown.

FIG. 2 is a simplified block diagram of a vehicle 200, according to anexample embodiment. The vehicle 200 may be similar to the vehicle 100described above in connection with FIG. 1, for example. However, thevehicle 200 may take other forms as well.

As shown, the vehicle 200 includes a propulsion system 202, a sensorsystem 204, a control system 206, peripherals 208, and a computer system210 including a processor 212, data storage 214, and instructions 216.In other embodiments, the vehicle 200 may include more, fewer, ordifferent systems, and each system may include more, fewer, or differentcomponents. Additionally, the systems and components shown may becombined or divided in any number of ways.

The propulsion system 202 may be configured to provide powered motionfor the vehicle 200. As shown, the propulsion system 202 includes anengine/motor 218, an energy source 220, a transmission 222, andwheels/tires 224.

The engine/motor 218 may be or include any combination of an internalcombustion engine, an electric motor, a steam engine, and a Stirlingengine. Other motors and engines are possible as well. In someembodiments, the propulsion system 202 could include multiple types ofengines and/or motors. For instance, a gas-electric hybrid car couldinclude a gasoline engine and an electric motor. Other examples arepossible.

The energy source 220 may be a source of energy that powers theengine/motor 218 in full or in part. That is, the engine/motor 218 maybe configured to convert the energy source 220 into mechanical energy.Examples of energy sources 220 include gasoline, diesel, propane, othercompressed gas-based fuels, ethanol, solar panels, batteries, and othersources of electrical power. The energy source(s) 220 could additionallyor alternatively include any combination of fuel tanks, batteries,capacitors, and/or flywheels. In some embodiments, the energy source 220may provide energy for other systems of the vehicle 200 as well.

The transmission 222 may be configured to transmit mechanical power fromthe engine/motor 218 to the wheels/tires 224. To this end, thetransmission 222 may include a gearbox, clutch, differential, driveshafts, and/or other elements. In embodiments where the transmission 222includes drive shafts, the drive shafts could include one or more axlesthat are configured to be coupled to the wheels/tires 224.

The wheels/tires 224 of vehicle 200 could be configured in variousformats, including a unicycle, bicycle/motorcycle, tricycle, orcar/truck four-wheel format. Other wheel/tire formats are possible aswell, such as those including six or more wheels. In any case, thewheels/tires 224 of vehicle 224 may be configured to rotatedifferentially with respect to other wheels/tires 224. In someembodiments, the wheels/tires 224 may include at least one wheel that isfixedly attached to the transmission 222 and at least one tire coupledto a rim of the wheel that could make contact with the driving surface.The wheels/tires 224 may include any combination of metal and rubber, orcombination of other materials. The propulsion system 202 mayadditionally or alternatively include components other than those shown.

The sensor system 204 may include a number of sensors configured tosense information about an environment in which the vehicle 200 islocated, as well as one or more actuators 236 configured to modify aposition and/or orientation of the sensors. As shown, the sensors of thesensor system 204 include a Global Positioning System (GPS) 226, aninertial measurement unit (IMU) 228, a RADAR unit 230, a laserrangefinder and/or LIDAR unit 232, and a camera 234. The sensor system204 may include additional sensors as well, including, for example,sensors that monitor internal systems of the vehicle 200 (e.g., an O₂monitor, a fuel gauge, an engine oil temperature, etc.). Other sensorsare possible as well.

The GPS 226 may be any sensor (e.g., location sensor) configured toestimate a geographic location of the vehicle 200. To this end, the GPS226 may include a transceiver configured to estimate a position of thevehicle 200 with respect to the Earth. The GPS 226 may take other formsas well.

The IMU 228 may be any combination of sensors configured to senseposition and orientation changes of the vehicle 200 based on inertialacceleration. In some embodiments, the combination of sensors mayinclude, for example, accelerometers and gyroscopes. Other combinationsof sensors are possible as well.

The RADAR 230 unit may be any sensor configured to sense objects in theenvironment in which the vehicle 200 is located using radio signals. Insome embodiments, in addition to sensing the objects, the RADAR unit 230may additionally be configured to sense the speed and/or heading of theobjects.

Similarly, the laser range finder or LIDAR unit 232 may be any sensorconfigured to sense objects in the environment in which the vehicle 200is located using lasers. In particular, the laser rangefinder or LIDARunit 232 may include a laser source and/or laser scanner configured toemit a laser and a detector configured to detect reflections of thelaser. The laser rangefinder or LIDAR 232 may be configured to operatein a coherent (e.g., using heterodyne detection) or an incoherentdetection mode.

The camera 234 may be any camera (e.g., a still camera, a video camera,etc.) configured to capture images of the environment in which thevehicle 200 is located. To this end, the camera may take any of theforms described above. The sensor system 204 may additionally oralternatively include components other than those shown.

The control system 206 may be configured to control operation of thevehicle 200 and its components. To this end, the control system 206 mayinclude a steering unit 238, a throttle 240, a brake unit 242, a sensorfusion algorithm 244, a computer vision system 246, a navigation orpathing system 248, and an obstacle avoidance system 250.

The steering unit 238 may be any combination of mechanisms configured toadjust the heading of vehicle 200.

The throttle 240 may be any combination of mechanisms configured tocontrol the operating speed of the engine/motor 218 and, in turn, thespeed of the vehicle 200.

The brake unit 242 may be any combination of mechanisms configured todecelerate the vehicle 200. For example, the brake unit 242 may usefriction to slow the wheels/tires 224. As another example, the brakeunit 242 may convert the kinetic energy of the wheels/tires 224 toelectric current. The brake unit 242 may take other forms as well.

The sensor fusion algorithm 244 may be an algorithm (or a computerprogram product storing an algorithm) configured to accept data from thesensor system 204 as an input. The data may include, for example, datarepresenting information sensed at the sensors of the sensor system 204.The sensor fusion algorithm 244 may include, for example, a Kalmanfilter, a Bayesian network, or another algorithm. The sensor fusionalgorithm 244 may further be configured to provide various assessmentsbased on the data from the sensor system 204, including, for example,evaluations of individual objects and/or features in the environment inwhich the vehicle 200 is located, evaluations of particular situations,and/or evaluations of possible impacts based on particular situations.Other assessments are possible as well.

The computer vision system 246 may be any system configured to processand analyze images captured by the camera 234 in order to identifyobjects and/or features in the environment in which the vehicle 200 islocated, including, for example, traffic signals and obstacles. To thisend, the computer vision system 246 may use an object recognitionalgorithm, a Structure from Motion (SFM) algorithm, video tracking, orother computer vision techniques. In some embodiments, the computervision system 246 may additionally be configured to map the environment,track objects, estimate the speed of objects, etc.

The navigation and pathing system 248 may be any system configured todetermine a driving path for the vehicle 200. The navigation and pathingsystem 248 may additionally be configured to update the driving pathdynamically while the vehicle 200 is in operation. In some embodiments,the navigation and pathing system 248 may be configured to incorporatedata from the sensor fusion algorithm 244, the GPS 226, and one or morepredetermined maps so as to determine the driving path for vehicle 200.

The obstacle avoidance system 250 may be any system configured toidentify, evaluate, and avoid or otherwise negotiate obstacles in theenvironment in which the vehicle 200 is located. The control system 206may additionally or alternatively include components other than thoseshown.

Peripherals 208 may be configured to allow the vehicle 200 to interactwith external sensors, other vehicles, and/or a user. To this end, theperipherals 208 may include, for example, a wireless communicationsystem 252, a touchscreen 254, a microphone 256, and/or a speaker 258.

The wireless communication system 252 may take any of the formsdescribed above similarly to the wireless communication system 108 ofthe vehicle 100.

The touchscreen 254 may be used by a user to input commands to thevehicle 200. To this end, the touchscreen 254 may be configured to senseat least one of a position and a movement of a user's finger viacapacitive sensing, resistance sensing, or a surface acoustic waveprocess, among other possibilities. The touchscreen 254 may be capableof sensing finger movement in a direction parallel or planar to thetouchscreen surface, in a direction normal to the touchscreen surface,or both, and may also be capable of sensing a level of pressure appliedto the touchscreen surface. The touchscreen 254 may be formed of one ormore translucent or transparent insulating layers and one or moretranslucent or transparent conducting layers. The touchscreen 254 maytake other forms as well.

The microphone 256 may be configured to receive audio (e.g., a voicecommand or other audio input) from a user of the vehicle 200. Similarly,the speakers 258 may be configured to output audio to the user of thevehicle 200. The peripherals 208 may additionally or alternativelyinclude components other than those shown.

The computer system 210 may be configured to transmit data to andreceive data from one or more of the propulsion system 202, the sensorsystem 204, the control system 206, and the peripherals 208. To thisend, the computer system 210 may be communicatively linked to one ormore of the propulsion system 202, the sensor system 204, the controlsystem 206, and the peripherals 208 by a system bus, network, and/orother connection mechanism (not shown).

The computer system 210 may be further configured to interact with andcontrol one or more components of the propulsion system 202, the sensorsystem 204, the control system 206, and/or the peripherals 208. Forexample, the computer system 210 may be configured to control operationof the transmission 222 to improve fuel efficiency. As another example,the computer system 210 may be configured to cause the camera 234 tocapture images of the environment. As yet another example, the computersystem 210 may be configured to store and execute instructionscorresponding to the sensor fusion algorithm 244. As still anotherexample, the computer system 210 may be configured to store and executeinstructions for displaying a display on the touchscreen 254. As stillanother example, the computer system 110 may be configured to adjust theradar unit 230 (e.g., adjust direction, power, modulation pattern,etc.). Other examples are possible as well.

As shown, the computer system 210 includes the processor 212 and datastorage 214. The processor 212 may comprise one or more general-purposeprocessors and/or one or more special-purpose processors. To the extentthe processor 212 includes more than one processor, such processorscould work separately or in combination. Data storage 214, in turn, maycomprise one or more volatile and/or one or more non-volatile storagecomponents, such as optical, magnetic, and/or organic storage, and datastorage 214 may be integrated in whole or in part with the processor212.

In some embodiments, data storage 214 may contain instructions 216(e.g., program logic) executable by the processor 212 to execute variousvehicle functions. Data storage 214 may contain additional instructionsas well, including instructions to transmit data to, receive data from,interact with, and/or control one or more of the propulsion system 202,the sensor system 204, the control system 206, and the peripherals 208.The computer system 210 may additionally or alternatively includecomponents other than those shown.

As shown, the vehicle 200 further includes a power supply 260, which maybe configured to provide power to some or all of the components of thevehicle 200. To this end, the power supply 260 may include, for example,a rechargeable lithium-ion or lead-acid battery. In some embodiments,one or more banks of batteries could be configured to provide electricalpower. Other power supply materials and configurations are possible aswell. In some embodiments, the power supply 260 and energy source 220may be implemented together, as in some all-electric cars.

In some embodiments, one or more of the propulsion system 202, thesensor system 204, the control system 206, and the peripherals 208 couldbe configured to work in an interconnected fashion with other componentswithin and/or outside their respective systems.

Further, the vehicle 200 may include one or more elements in addition toor instead of those shown. For example, the vehicle 200 may include oneor more additional interfaces and/or power supplies. Other additionalcomponents are possible as well. In such embodiments, data storage 214may further include instructions executable by the processor 212 tocontrol and/or communicate with the additional components.

Still further, while each of the components and systems are shown to beintegrated in the vehicle 200, in some embodiments, one or morecomponents or systems may be removably mounted on or otherwise connected(mechanically or electrically) to the vehicle 200 using wired orwireless connections. The vehicle 200 may take other forms as well.

FIG. 3 is a simplified block diagram of a system 300, according to anexample embodiment. The system 300 includes vehicles 302 a-302 dcommunicatively linked (e.g., via wired and/or wireless interfaces) toan external computing device 304. The vehicles 302 a-302 d and thecomputing device 304 may communicate within a network. Alternatively,the vehicles 302 a-302 d and the computing device 304 may each residewithin a respective network.

The vehicles 302 a-302 d may be similar to the vehicles 100-200. Forexample, the vehicles 302 a-302 d may be partially or fully autonomousvehicles that each include a sensor (e.g., RADAR, etc.) to detect anenvironment of the vehicles 302 a-302 d. The vehicles 302 a-302 d mayinclude components not shown in FIG. 3, such as a user interface, acommunication interface, a processor, and data storage comprisinginstructions executable by the processor for carrying out one or morefunctions relating to the data sent to, or received by, the computingdevice 304. Further, the functions may also relate to control of thevehicles 302 a-302 d or components thereof, such as sensors, etc. Tothat end, the functions may also include methods and systems describedherein.

The computing device 304 may be configured as a server or any otherentity arranged to carry out the functions described herein. Further,the computing device 304 may be configured to send data/requests to thevehicles 302 a-302 d and/or to receive data from the vehicles 302 a-302d. For example, the computing device 304 may receive locationinformation from the vehicles 302 a-302 d as well as sensorconfigurations (e.g., direction, modulation pattern, etc.), and mayresponsively provide requests to proximate vehicles to adjust thecorresponding sensor configurations to reduce interference between thecorresponding sensors. Additionally or alternatively, for example, thecomputing device 304 may function as a medium for sharing the data(e.g., sensor configurations, locations, etc.) between the vehicles 302a-302 d. Although FIG. 3 shows that the vehicles 302 a-302 d communicatevia the computing device 304, in some examples, the vehicles 302 a-302 dmay additionally or alternatively communicate directly with one another.

The computing device 304 includes a communication system 306, aprocessor 308, and data storage 310. The communication system 306 may beany system configured to communicate with the vehicles 302 a-302 d, orother entities, either directly or via a communication network, such asa wireless communication network. For example, the communication system306 may include an antenna and a chipset for wirelessly communicatingwith the vehicles 302 a-302 d, servers, or other entities eitherdirectly or via a wireless communication network. Alternatively, in someexamples, the communication system 306 may include a wired connection toa server or other entity in wireless communication with the vehicles 302a-302 d. Accordingly, the chipset or the communication system 306 ingeneral may be arranged to communicate according to one or more types ofwireless communication (e.g., protocols) such as Bluetooth,communication protocols described in IEEE 802.11 (including any IEEE802.11 revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO,WiMAX, or LTE), Zigbee, dedicated short range communications (DSRC), andradio frequency identification (RFID) communications, among otherpossibilities, or one or more types of wired communication such as LocalArea Network (LAN), etc. The communication system 306 may take otherforms as well.

The processor 308 may comprise one or more general-purpose processorsand/or one or more special-purpose processors. To the extent theprocessor 308 includes more than one processor, such processors couldwork separately or in combination. Data storage 310, in turn, maycomprise one or more volatile and/or one or more non-volatile storagecomponents, such as optical, magnetic, and/or organic storage, and datastorage 310 may be integrated in whole or in part with the processor308.

In some embodiments, data storage 310 may contain instructions 312(e.g., program logic) executable by the processor 308 to execute variousfunctions described herein. Data storage 310 may contain additionalinstructions as well, including instructions to transmit data to,receive data from, interact with, and/or control one or more of thevehicles 302 a-302 d. The computer system 210 may additionally oralternatively include components other than those shown.

FIG. 4 is a block diagram of a method 400, according to an exampleembodiment. Method 400 shown in FIG. 4 presents an embodiment of amethod that could be used with the vehicles 100, 200, 302 a-302 d, orthe computing device 304, for example. Method 400 may include one ormore operations, functions, or actions as illustrated by one or more ofblocks 402-406. Although the blocks are illustrated in a sequentialorder, these blocks may in some instances be performed in parallel,and/or in a different order than those described herein. Also, thevarious blocks may be combined into fewer blocks, divided intoadditional blocks, and/or removed based upon the desired implementation.

In addition, for the method 400 and other processes and methodsdisclosed herein, the flowchart shows functionality and operation of onepossible implementation of present embodiments. In this regard, eachblock may represent a module, a segment, a portion of a manufacturing oroperation process, or a portion of program code, which includes one ormore instructions executable by a processor for implementing specificlogical functions or steps in the process. The program code may bestored on any type of computer readable medium, for example, such as astorage device including a disk or hard drive. The computer readablemedium may include non-transitory computer readable medium, for example,such as computer-readable media that stores data for short periods oftime like register memory, processor cache and Random Access Memory(RAM). The computer readable medium may also include non-transitorymedia, such as secondary or persistent long term storage, like read onlymemory (ROM), optical or magnetic disks, compact-disc read only memory(CD-ROM), for example. The computer readable media may also be any othervolatile or non-volatile storage systems. The computer readable mediummay be considered a computer readable storage medium, for example, or atangible storage device.

In addition, for the method 400 and other processes and methodsdisclosed herein, each block in FIG. 4 may represent circuitry that iswired to perform the specific logical functions in the process, forexample.

The method 400 may describe a method for reducing a likelihood ofinterference between a sensor of a vehicle and other sensors of othervehicles.

At block 402, the method 400 includes the vehicle receiving data from anexternal computing device indicative of at least one other vehicle in anenvironment of the vehicle that includes at least one sensor. In someexamples, the sensor of the vehicle may be configured to detect anenvironment of the vehicle based on a comparison between electromagnetic(EM) radiation transmitted by the sensor and a reflection of the EMradiation from one or more objects in the environment of the vehicle.For example, the sensor may include a radio detection and ranging(RADAR) sensor, similar to the radar unit 230 of the vehicle 200.

The external computing device may be similar to the computing device 304of the system 300. Thus, for example, the vehicle may receive the datafrom the external computing device indicating proximity of the at leastone other vehicle and/or presence of the at least one sensor in the atleast one other vehicle that may interfere with the sensor of thevehicle.

Accordingly, at block 404, the method 400 includes determining alikelihood of interference between the at least one sensor of the atleast one other vehicle and the sensor of the vehicle based on the data.By way of example, the data may indicate that a given vehicle is infront of the vehicle of block 402. Further, the data may indicate thatthe given vehicle has a backwards facing RADAR that is directed towardsa forward facing RADAR (e.g., the sensor) of the vehicle. Therefore, thedata from the external computing device may include information such aslocations of the at least one other vehicle and configurations of the atleast one sensor in the at least one other vehicle. In another example,the vehicle and the at least one other vehicle may be facing the samedirection towards a large reflective object, thus forward facingtransmitters of one vehicle may interfere with forward facing receiversof another vehicle.

To facilitate the determination at block 404, in some examples, thevehicle may include a location sensor similar to the GPS 226 of thevehicle 200 or any other location sensor. In these examples, the method400 may perform the determination at block 404 based on a comparisonbetween location of the at least one other vehicle (e.g., indicated bythe data) and location of the vehicle (e.g., indicated by the locationsensor). Additionally, the vehicle may include an orientation sensorsimilar to the IMU 228 of the vehicle 200. For example, the orientationsensor may be utilized to determine an orientation and/or heading of thevehicle to facilitate determining the likelihood of interference atblock 404. For example, the vehicle may compare the orientation withorientations of the at least one other vehicle (and sensors thereon) todetermine the likelihood of interference. Similarly, for example, thelocation of the vehicle may be compared with locations of the at leastone other vehicle. Other examples are possible as well.

Accordingly, in some examples, the method 400 may also includeidentifying a location of the vehicle in the environment based on alocation sensor in the vehicle. In these examples, the method 400 mayalso include determining that the at least one other vehicle is within athreshold distance to the vehicle based on the location from thelocation sensor and the data from the external computing device.

At block 406, the method 400 includes initiating an adjustment of thesensor responsive to the determination at block 404. The adjustment mayreduce the likelihood of interference between the sensor of the vehicleand the at least one sensor of the at least one other vehicle. Variousimplementations of the method 400 are possible for performing theadjustment of the sensor at block 406.

In a first example implementation, the direction of the sensor and/orthe EM radiation transmitted by the sensor may be adjusted by thevehicle. In one example, the vehicle may actuate a steering device(e.g., mount) of the sensor to steer the sensor away from the at leastone sensor of the at least one other vehicle. In another example, thevehicle may adjust a direction of the EM radiation transmitted by thesensor (e.g., beam steering) by switching antenna elements in the sensorand/or changing relative phases of RF signals driving the antennaelements. Accordingly, in some examples, the method 400 may also includemodifying a direction of the sensor.

In a second example implementation, a power of the EM radiationtransmitted by the sensor may be modified. For example, the data mayindicate that the at least one other vehicle is at a given distance fromthe vehicle. In this example, the vehicle (and/or the at least one othervehicle) may be operated by the method 400 to reduce the power of the EMradiation transmitted by the sensor (and/or the at least one sensor ofthe at least one other vehicle) to reduce the interference. For example,the external computing device may provide a request to the vehicleand/or the at least one other vehicle to modify the power ofcorresponding EM radiation transmitted by each vehicle to reduce theinterference. Accordingly, in some examples, the method 400 may alsoinclude modifying a power of the EM radiation transmitted by the sensor.

Further, in some embodiments of the second example implementation, thevehicle may include a velocity sensor similar to the GPS 226 and/or theIMU 228 of the vehicle 200 or any other velocity sensor. In theseembodiments, the velocity sensor may be configured to detect a directionof travel and/or a speed of the vehicle. In one example, if thedirection of travel is towards the at least one other vehicle, themethod 400 may optionally include reducing the power of the EM radiationbased on the determination. sensorIn another example, the vehicle andthe at least one other vehicle may be travelling in the same directionwith the vehicle travelling ahead of the at least one other vehicle. Onone hand, if the vehicle is travelling at a greater speed than the atleast one other vehicle, a backward facing RADAR on the vehicle mayreduce its power because of the likelihood of an accident being lower.On the other hand, if the vehicle is travelling at a lower speed, thepower may be increased in anticipation of the at least one other vehiclegetting closer to the vehicle. Further, in some examples, the method 400may also include reducing the power of the EM radiation by an amountbased on the speed of the vehicle. For example, the reduction of powermay be scaled based on the rate at which the two vehicles are travellingapart from each other.

In a third example implementation, the method 400 may also includemodifying a modulation pattern of the EM radiation to reduce theinterference. Modifying the modulation pattern, for example, may includeapplying a time offset to the modulation pattern, applying a frequencyoffset to the modulation pattern, adjusting a frequency bandwidth of themodulation pattern, and/or adjusting a shape of the modulation patternamong other possibilities.

By way of example, the modulation pattern of the EM radiation may be afrequency modulated continuous wave (FMCW) RADAR modulation, where thefrequency of the EM radiation is adjusted over time in accordance withthe modulation pattern. A receiver of the sensor (e.g., RADAR receiver)may filter incoming EM radiation based on the modulation pattern.

Therefore, in one example, the vehicle may adjust the modulation patternby applying an offset among the other possibilities described above todistinguish the modulation pattern of the sensor from the modulationpattern of the at least one sensor of the at least one other vehicle. Inthis example, the offset may be a frequency offset or a time offset. Inanother example, the vehicle may adjust the modulation pattern byadjusting a frequency bandwidth or a shape of the modulation pattern. Inyet another example, the vehicle may adjust the modulation pattern byapplying a particular phase-shift keying (PSK) modulation scheme to theEM radiation transmitted by the sensor, and the receiver may filter theincoming EM radiation based on the particular PSK scheme (e.g., todistinguish the EM radiation transmitted by the sensor from other EMradiation transmitted by other sensors of other vehicles). PSK is adigital modulation scheme that conveys data by changing, or modulating,a phase of the transmitted EM radiation. For example, the transmitted EMradiation may be conditioned to have a finite number of phases, eachassigned a unique pattern of binary digits, and such pattern of binarydigits may be detect at a digital signal processor coupled to thereceiver of the sensor to identify the source of the EM radiation.Various PSK schemes are possible such as Binary phase-shift keying(BPSK), Quadrature phase-shift keying (QPSK), High-order PSK,Differential phase-shift keying (DPSK), etc.

FIG. 5 is a block diagram of another method 500, according to an exampleembodiment. Method 500 shown in FIG. 5 presents an embodiment of amethod that could be used with the vehicles 100, 200, 302 a-302 d, orthe computing device 304, for example. Method 500 may include one ormore operations, functions, or actions as illustrated by one or more ofblocks 502-508. Although the blocks are illustrated in a sequentialorder, these blocks may in some instances be performed in parallel,and/or in a different order than those described herein. Also, thevarious blocks may be combined into fewer blocks, divided intoadditional blocks, and/or removed based upon the desired implementation.

At block 502, the method 500 includes receiving data from a plurality ofvehicles indicative of configuration parameters of sensors in theplurality of vehicles. The data may be received, for example, by acomputing device that includes one or more processors, similar to thecomputing device 304, that is coupled to the plurality of vehicles viaone or more wired/wireless mediums. By way of example, the computingdevice may reside in a network that includes a broadcast towerconfigured to receive wireless signals from the plurality of vehicles.The plurality of vehicles (e.g., cars, trucks, trains, watercraft, etc.)may include the sensors such as RADARs that are configured to detect anenvironment of the plurality of vehicles. In an example scenario, agiven vehicle may be traveling along roads of a city (e.g., theenvironment) and a given sensor of the given vehicle may detect objectsor other vehicles in the vicinity of the given vehicle. In the examplescenario, the given sensor may detect the environment based on acomparison between EM radiation transmitted by the given sensor and areflection of the EM radiation from one or more objects in theenvironment of the vehicle. Further, the data may indicate theconfiguration parameters of the sensors such as direction, power,modulation pattern, etc., of the sensor and/or the EM radiation thereof.In some examples, the data may also indicate locations of the pluralityof vehicles.

At block 504, the method 500 includes determining that a given vehicleis within a threshold distance to at least one other vehicle based onthe data. By way of example, the given vehicle and the at least oneother vehicle may be travelling behind one another, or may be headingtowards an intersection, and the data received by the computing devicemay indicate that the two vehicles are within the threshold distance toone another that may cause interference between respective sensors ofthe two vehicles.

At block 506, the method 500 includes determining a likelihood ofinterference between at least one sensor of the at least one othervehicle and a given sensor of the given vehicle based on theconfiguration parameters. For example, a first RADAR in the givenvehicle (e.g., the given sensor) may be directed towards a second RADARin the at least one other vehicle. In this example, the signals from thesecond RADAR may be received by the first RADAR causing an interference(e.g., the first RADAR may incorrectly deduce that the second RADARsignal is a reflection of the EM radiation from the first RADAR). Thus,the computing device of the method 500 may utilize the information fromthe plurality of vehicles such as the configuration parameters of thesensors and/or the locations of the plurality of vehicles to determinethe likelihood of the interference.

At block 508, the method 500 includes providing a request to the givenvehicle to adjust given configuration parameters of the given sensor toreduce interference between the given sensor of the given vehicle andthe at least one sensor of the at least one other vehicle. The provisionof the request may be based on the likelihood of interference beinggreater than a threshold likelihood. Various adjustments to the givenconfiguration parameters of the given sensor are possible similarly tothe adjustments at block 406 of the method 400. For example, adirection, power, modulation pattern, bandwidth, or any other adjustmentmay be indicated by the request at block 508. Further, in some examples,the method 500 may also include providing similar requests to the atleast one other vehicle to further reduce the likelihood of theinterference.

By way of example, each of the plurality vehicles may be instructed bythe computing device to have a respective binary phase-shift keying(BPSK) scheme to reduce the likelihood of interference. For example,proximate vehicles may include different BPSK schemes. Further, forexample, the BPSK schemes may be reused for vehicles that are notproximate, or that have a lower likelihood of receiving EM radiationfrom one another. Thus, for example, BPSK codes may be spatially reusedbased on the determination of the likelihood at block 506.

Additionally, in some examples, the computing device at block 508 mayprovide the request for a combination of adjustments. For example, afrequency offset, time offset, and/or power adjustment may be indicatedby the request to reduce the likelihood of particular interferenceeffects (e.g., overload) on a front-end receiver of a radar.Additionally, in this example, BPSK encoding adjustment may also beindicated by the request to help distinguish the source of EM radiationin proximate vehicles. Other examples are possible as well.

FIG. 6 illustrates a plurality of vehicles 612 a-612 c within anenvironment of a vehicle 602 that includes a sensor 606, according to anexample embodiment. The vehicles 602 and 612 a-c may be similar to thevehicles 100, 200, 302 a-302 d of FIGS. 1-3. For example, the vehicle602 may include the sensor 606 (e.g., RADAR, LIDAR, etc.) similar to theradar unit 230 and/or the lidar unit 232 of the vehicle 200. Further,the vehicle 602 includes a mount 604 (“steering device”) configured toadjust a direction of the sensor 606. The mount 604, for example, may bea moveable mount comprising materials suitable for supporting the sensor606 and may be operated by a control system (not shown) to rotate thesensor 606 about a mount axis to modify the direction of the sensor 606.Alternatively, the mount 604 may modify the direction of the sensor 606in a different manner. For example, the mount 604 (e.g., steeringdevice) may translate the sensor 606 along a horizontal plane, etc.

As illustrated in FIG. 6, the vehicles 602 and 612 a-612 c aretravelling on a road 610. Further, the vehicles 612 a-612 c may includesensors (not shown in FIG. 6) that may interfere with operation of thesensor 606 of the vehicle 602. Various scenarios to reduce interferencebetween such sensors and the sensor 606 in accordance with the presentdisclosure are presented below.

In a first scenario, the vehicle 612 a may include a backward facingsensor (not shown) that is directed towards the sensor 606. The vehicle602 may determine such scenario via a method such as the methods400-500. For example, the vehicle 602 may receive data from a server(not shown) that indicates that the sensors are directed at one another.In the scenario, the vehicle 602, for example, may adjust the directionof the sensor 606 via the mount 604 (“steering device”) to reduce suchinterference. For example, the mount 604 may rotate the sensor 606slightly away from the direction of the vehicle 612 a.

In a second scenario, the vehicle 612 b may also include a backwardfacing sensor (not shown) that is directed towards the sensor 606. Inthis scenario, for example, the vehicle 602 may adjust a modulationpattern of EM radiation from the sensor 606 to reduce interferencebetween the sensor of the vehicle 612 b and the sensor 606 of thevehicle 602. For example, the EM radiation of the sensor of vehicle 612b may have the shape of a triangular wave, and the vehicle 602 mayadjust the shape of the EM radiation from the sensor 606 to correspondto a sawtooth shape, or may adjust a slope of the triangular wave. Otherexamples are possible as well.

In a third scenario, the vehicle 612 c may also include a backwardfacing sensor (not shown) that is directed towards the sensor 606. Inthis scenario, the sensor of the vehicle 612 c may receive signals fromthe sensor 606 that interfere with the sensor of the vehicle 612 c.Accordingly, in the scenario, the vehicle 602 may reduce power of the EMradiation from the sensor 606 such that the EM radiation may notsignificantly interfere with the sensor of the vehicle 612 c aftertraversing a given distance to the vehicle 612 c.

Other scenarios are possible as well in accordance with the presentdisclosure.

FIG. 7 is a simplified block diagram of a sensor 700, according to anexample embodiment. The sensor 700, for example, may include a frequencymodulated continuous wave (FMCW) RADAR. The sensor 700 includes a localoscillator 702, a transmitter 704, a receiver 706, a mixer 708, anintermediate frequency (IF) filter 710, an analog-to-digital converter(ADC) 712, and a digital signal processor (DSP) 714. The sensor 700, forexample, may be similar to the radar unit 230 of the vehicle 200.

It is noted that the blocks 702-714 are for exemplary purposes only. Insome examples some of the blocks in the sensor 700 may be combined ordivided into other blocks. For example, FIG. 7 shows a single channeltransmitter 704 and receiver 706. In some embodiments the sensor 700 mayinclude multiple transmitters and/or receivers. In one exampleconfiguration, the sensor 700 may include 2 transmitters and 4receivers. In another example configuration, the sensor 700 may include4 transmitters and 8 receivers. Other examples are possible as well.Further, for example, the receiver 706 may include the mixer 708.

The local oscillator 702 may include any oscillator (e.g., coherentoscillator, etc.) that is configured to output a continuous wave. Thewave may be utilized by the transmitter 704 (e.g., transmitter antenna)to radiate electromagnetic (EM) radiation towards an environment of thesensor 700. By way of example, the local oscillator 702 may beconfigured to sweep a particular bandwidth (e.g., 76 Ghz-77 Ghz) at aperiodic rate to provide the continuous wave to the transmitter 704.

The EM radiation may reflect off one or more objects in the environment,and the reflected EM radiation may be received by the receiver 706 inaccordance with the methods 400-500. In some examples, the transmitter704 and the receiver 706 may include any antenna such as a dipoleantenna, a waveguide antenna, a waveguide array antenna, or any othertype of antenna.

The signal from the receiver 706 may be received by the mixer 708 alongwith a signal from the local oscillator 702. The mixer 708 may includeany electronic mixer device such as an unbalanced crystal mixer, apoint-contact crystal diode, a schottky-barrier diode or any othermixer. The mixer 708 may be configured to provide an output thatincludes a mixture of the frequencies in the input signals such as a sumof the frequencies or a difference of the frequencies.

The signal from the mixer 708 may be received by the IF filter 710 thatis configured to filter a desired intermediate frequency out of themixture frequencies from the mixer 708. In some examples the IF filter710 may include one or more bandpass filters. The IF filter 710 may havea particular bandwidth associated with a resolution of the sensor 700.The ADC 712 may then receive the signal from the IF filter 710 andprovide a digital representation of the IF filter 710 output to the DSP714 sensor.

The DSP 714 may include any digital signal processing device oralgorithm to process the data from the ADC 712 for determination ofrange, angle, or velocity of the one or more objects in the environmentof the sensor 700. The DSP 714, for example, may include one or moreprocessors. In one example, the DSP 714 may be configured to determine aBinary Phase-Shift keying (BPSK) scheme of the signal received by thereceiver 706. In this example, the DSP 714 may identify the source ofthe received EM radiation. For example, the BPSK scheme of thetransmitted EM radiation by the transmitter 704 may be compared with theBPSK scheme of the EM radiation received by the receiver 706.

FIG. 8 illustrates a modulation pattern 800 of electromagnetic (EM)radiation from a sensor, according to an example embodiment. Themodulation pattern 800 may correspond to the continuous wave provided bya local oscillator in the sensor similar to the local oscillator 702 ofthe sensor 700. FIG. 8 shows the modulation pattern 800 along afrequency axis 802 (vertical axis) and a time axis 804 (horizontalaxis).

Thus, for example, the EM radiation may have a continuously changingfrequency between a minimum frequency 806 and a maximum frequency 808.The minimum frequency 806 and the maximum frequency 808 could, forexample, span a frequency range of 76 GHz to 77 GHz, part of thisfrequency range, or some other frequency range. In the example shown inFIG. 8, the modulation pattern 800 corresponds to a triangular pattern.However, in other examples, the shape of the modulation pattern 800 maycorrespond to any other shape such as a sawtooth pattern, a square wavepattern, a sine wave pattern, or any other shape.

In an example operation of a sensor, such as the sensor 700, the EMradiation having the modulation pattern 800 may be transmitted by atransmitter (e.g., the transmitter 704) and a reflection of themodulation pattern 800 may be received by a receiver (e.g., the receiver706). By comparing the modulation pattern 800 of the transmitted wavewith a modulation pattern of the reflected wave distances and velocitiesof objects in the environment of the sensor may be determined. Forexample, the time offset between the transmitted wave and the receivedwave may be utilized to determine the distance (e.g., range) to theobject. Further, for example, a change in the slope of the modulatedpattern 800 may be utilized to determine the velocity of the object(e.g., Doppler velocity, etc.) relative to the sensor.

FIGS. 9A-9E illustrate example scenarios 900 a-900 e for adjusting amodulation pattern of EM radiation from a sensor to reduce interferencewith other sensors, in accordance with at least some embodiments herein.The scenarios 900 a-900 e present modulated patterns along a frequencyaxis 902 and a time axis 904 that are similar, respectively, to thefrequency axis 802 and the time axis 804 of FIG. 8. In FIGS. 9A-9E,modulated patterns 910 a-910 e may correspond to modulated patterns ofEM radiation from a first sensor in a first vehicle, and modulatedpatterns 912 a-912 e may correspond to modulated patterns of EMradiation from a second sensor in a second vehicle. The scenarios 900a-900 e present various adjustments of the corresponding modulationpatterns to reduce interference in accordance with the presentdisclosure.

In scenario 900 a of FIG. 9A, the modulated pattern 912 a of the secondsensor may be offset by a time offset 924 to distinguish the modulatedpattern 910 a from the modulated pattern 912 a. For example, the timeoffset 924 may cause a frequency offset from frequency 920 a tofrequency 922 a between the two waveforms 910 a and 912 a. Accordingly,a filter such as the IF filter 710 of the sensor 700 may be able todistinguish radiation of the corresponding waveform. For example, thefrequency offset (920 a-922 a) may be selected to be greater than abandwidth of the IF filter of the first sensor associated with waveform910 a and/or the IF filter of the second sensor associated with waveform912 a.

In scenario 900 b of FIG. 9B, waveforms 910 b and 912 b may bealternatively distinguished by applying a frequency offset between thefrequencies 920 b and 922 b. Similarly to scenario 900 a, for example,such frequency offset may allow a sensor such as the sensor 700 todistinguish between the two waveforms (e.g., based on the IF filterbandwidth).

In scenario 900 c of FIG. 9C, the modulation pattern 910 c and/or 912 cmay alternatively be adjusted to have a different shape. For example,FIG. 9C shows the modulated pattern 910 c (e.g., of the first sensor) tohave a different slope than the modulated pattern 912 c (e.g., of thesecond sensor). Alternatively, in some examples, other changes to themodulated patterns 910 c and 912 c may be applied. For example, adifferent shape may be utilized by one of the two sensors (e.g.,triangular, sawtooth, sine wave, etc.).

In scenario 900 d of FIG. 9D, a frequency bandwidth of the modulationpatterns 910 d and 912 d may be adjusted. For example, the first sensormay be adjusted to output the modulated pattern 910 d having a minimumfrequency of 76 GHz and a maximum frequency of 76.45 GHz, and the secondsensor may be adjusted to output the modulated pattern 912 d having aminimum frequency of 76.5 GHz and a maximum frequency of 77 GHz. Thus,for example, a filter such as the IF filter 710 may be configured tofilter the signals for frequencies in the corresponding bandwidth.

In scenario 900 e of FIG. 9E, the first sensor and the second sensor maybe configured to intermittently stop providing EM radiation. Forexample, the EM radiation of the first sensor (e.g., the modulationpattern 910 e) may be stopped by the first vehicle and the modulationpattern 912 e of the second sensor may be started after a time offsetillustrated in FIG. 9E as the time offset between times 920 e and 922 e.Accordingly, the receivers of the first sensor and the second sensor mayavoid receiving signals from transmitters of one another.

Scenarios 900 a-900 e of FIGS. 9A-9E are illustrated for exemplarypurposes only. Other scenarios are possible for adjusting the modulationpattern of a sensor to reduce the interference in accordance withmethods 400-500 of the present disclosure.

FIG. 10 depicts an example computer readable medium configured accordingto an example embodiment. In example embodiments, an example system mayinclude one or more processors, one or more forms of memory, one or moreinput devices/interfaces, one or more output devices/interfaces, andmachine readable instructions that when executed by the one or moreprocessors cause the system to carry out the various functions tasks,capabilities, etc., described above.

As noted above, in some embodiments, the disclosed techniques (e.g.,methods 400, 500, etc.) may be implemented by computer programinstructions encoded on a computer readable storage media in amachine-readable format, or on other media or articles of manufacture(e.g., instructions 216 of the vehicle 200, instructions 312 of thecomputing device 304, etc.). FIG. 10 is a schematic illustrating aconceptual partial view of an example computer program product thatincludes a computer program for executing a computer process on acomputing device, arranged according to at least some embodimentsdisclosed herein.

In one embodiment, the example computer program product 1000 is providedusing a signal bearing medium 1002. The signal bearing medium 1002 mayinclude one or more programming instructions 1004 that, when executed byone or more processors may provide functionality or portions of thefunctionality described above with respect to FIGS. 1-9. In someexamples, the signal bearing medium 1002 may be a computer-readablemedium 1006, such as, but not limited to, a hard disk drive, a CompactDisc (CD), a Digital Video Disk (DVD), a digital tape, memory, etc. Insome implementations, the signal bearing medium 1002 may be a computerrecordable medium 1008, such as, but not limited to, memory, read/write(R/W) CDs, R/W DVDs, etc. In some implementations, the signal bearingmedium 1002 may be a communication medium 1010 (e.g., a fiber opticcable, a waveguide, a wired communications link, etc.). Thus, forexample, the signal bearing medium 1002 may be conveyed by a wirelessform of the communications medium 1010.

The one or more programming instructions 1004 may be, for example,computer executable and/or logic implemented instructions. In someexamples, a computing device may be configured to provide variousoperations, functions, or actions in response to the programminginstructions 1004 conveyed to the computing device by one or more of thecomputer readable medium 1006, the computer recordable medium 1008,and/or the communications medium 1010.

The computer readable medium 1006 may also be distributed among multipledata storage elements, which could be remotely located from each other.The computing device that executes some or all of the storedinstructions could be an external computer, or a mobile computingplatform, such as a smartphone, tablet device, personal computer,wearable device, etc. Alternatively, the computing device that executessome or all of the stored instructions could be remotely locatedcomputer system, such as a server, or a distributed cloud computingnetwork.

It should be understood that arrangements described herein are forpurposes of example only. As such, those skilled in the art willappreciate that other arrangements and other elements (e.g. machines,interfaces, functions, orders, and groupings of functions, etc.) can beused instead, and some elements may be omitted altogether according tothe desired results. Further, many of the elements that are describedare functional entities that may be implemented as discrete ordistributed components or in conjunction with other components, in anysuitable combination and location, or other structural elementsdescribed as independent structures may be combined.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopebeing indicated by the following claims, along with the full scope ofequivalents to which such claims are entitled. It is also to beunderstood that the terminology used herein is for the purpose ofdescribing particular embodiments only, and is not intended to belimiting.

What is claimed is:
 1. A method comprising: receiving, at a computingdevice coupled to a vehicle, information indicative of a potentiallyinterfering light source, wherein the vehicle includes a lidar system;and based on the information, adjusting, by the computing device,operation of the lidar system to reduce interference with thepotentially interfering light source.
 2. The method of claim 1, whereinadjusting operation of the lidar system comprises: causing the lidarsystem to transition from emitting a first sequence of light pulses toemitting a second sequence of light pulses.
 3. The method of claim 1,further comprising: detecting a change in an orientation of the vehicle;and wherein adjusting operation of the lidar system comprises: adjustingoperation of the lidar system responsive to detecting the change in theorientation of the vehicle.
 4. The method of claim 1, furthercomprising: receiving, from the lidar system, light signals having acode identifier; and based on the code identifier, determining that thelight signals originated from a source located external to the lidarsystem.
 5. The method of claim 1, wherein adjusting operation of thelidar system comprises: adjusting a power level used by the lidarsystem.
 6. The method of claim 1, wherein adjusting operation of thelidar system comprises: adjusting a modulation pattern used by the lidarsystem.
 7. The method of claim 1, wherein adjusting operation of thelidar system comprises: causing the lidar system to subsequently operateaccording to a time offset.
 8. The method of claim 1, wherein adjustingoperation of the lidar system comprises: causing the lidar system tosubsequently operate according to a frequency offset.
 9. The method ofclaim 1, further comprising: based on the information, determining alikelihood of interference between the lidar system and the potentiallyinterfering light source.
 10. The method of claim 9, wherein adjustingoperation of the lidar system comprises: adjusting operation of thelidar system based on determining that the likelihood of interferenceexceeds a threshold likelihood.
 11. A vehicle comprising: a lidarsystem; and a computing device in communication with the lidar system,wherein the computing device is configured to: receive informationindicative of a potentially interfering light source; and based on theinformation, adjust operation of the lidar system to reduce interferencewith the potentially interfering light source.
 12. The vehicle of claim11, wherein the computing device is further configured to: cause thelidar system to transition from emitting a first sequence of lightpulses to emitting a second sequence of light pulses.
 13. The vehicle ofclaim 11, wherein the computing device is further configured to: detecta change in an orientation of the vehicle; and adjust operation of thelidar system responsive to detecting the change in the orientation ofthe vehicle.
 14. The vehicle of claim 11, wherein the computing deviceis further configured to: receive, from the lidar system, light signalshaving a code identifier; and based on the code identifier, determinethat the light signals originated from a source located external to thelidar system.
 15. The vehicle of claim 11, wherein the computing deviceis further configured to: adjust a power level used by the lidar system.16. The vehicle of claim 11, wherein the computing device is furtherconfigured to: adjust a modulation pattern used by the lidar system. 17.The vehicle of claim 11, wherein the computing device is furtherconfigured to: cause the lidar system to subsequently operate accordingto a time offset.
 18. The vehicle of claim 11, wherein the computingdevice is further configured to: cause the lidar system to subsequentlyoperate according to a frequency offset.
 19. The vehicle of claim 11,wherein the computing device is further configured to: based on theinformation, determine a likelihood of interference between the lidarsystem and the potentially interfering light source; and adjustoperation of the lidar system based on determining that the likelihoodof interference exceeds a threshold likelihood.
 20. A non-transitorycomputer readable medium configured to store instructions, that whenexecuted by a computing device, cause the computing device to performoperations comprising: receiving information indicative of a potentiallyinterfering light source, wherein the computing device is coupled to avehicle, and wherein the vehicle includes a lidar system; and based onthe information, adjusting, by the computing device, operation of thelidar system to reduce interference with the potentially interferinglight source.